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<a href="#nested-classes">类</a> &#124;
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
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<div class="title">pcl::SamplingSurfaceNormal&lt; PointT &gt; 模板类 参考</div>  </div>
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<p><b><a class="el" href="classpcl_1_1_sampling_surface_normal.html" title="SamplingSurfaceNormal divides the input space into grids until each grid contains a maximum of N poin...">SamplingSurfaceNormal</a></b> divides the input space into grids until each grid contains a maximum of N points, and samples points randomly within each grid. <a class="el" href="structpcl_1_1_normal.html" title="A point structure representing normal coordinates and the surface curvature estimate....">Normal</a> is computed using the N points of each grid. All points sampled within a grid are assigned the same normal.  
 <a href="classpcl_1_1_sampling_surface_normal.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="sampling__surface__normal_8h_source.html">sampling_surface_normal.h</a>&gt;</code></p>
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类 pcl::SamplingSurfaceNormal&lt; PointT &gt; 继承关系图:</div>
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  <img src="classpcl_1_1_sampling_surface_normal.png" usemap="#pcl::SamplingSurfaceNormal_3C_20PointT_20_3E_map" alt=""/>
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<area href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface." alt="pcl::Filter&lt; PointT &gt;" shape="rect" coords="0,56,230,80"/>
<area href="classpcl_1_1_p_c_l_base.html" title="PCL base class. Implements methods that are used by most PCL algorithms." alt="pcl::PCLBase&lt; PointT &gt;" shape="rect" coords="0,0,230,24"/>
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html">CompareDim</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><b><a class="el" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html" title="CompareDim is a comparator object for sorting across a specific dimenstion (i,.e X,...">CompareDim</a></b> is a comparator object for sorting across a specific dimenstion (i,.e X, Y or Z)  <a href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#details">更多...</a><br /></td></tr>
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Public 类型</h2></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_sampling_surface_normal.html">SamplingSurfaceNormal</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_sampling_surface_normal.html">SamplingSurfaceNormal</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a719a1ef5a8fc3b7f4a651a8bae51571b inherit pub_types_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a719a1ef5a8fc3b7f4a651a8bae51571b"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="memitem:a4f1d68bbc5f1f6b852b48b95e4673cfb inherit pub_types_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a4f1d68bbc5f1f6b852b48b95e4673cfb"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const  &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a9a5a04afd679922ea3ff80c2b4726662"><td class="memItemLeft" align="right" valign="top"><a id="a9a5a04afd679922ea3ff80c2b4726662"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#a9a5a04afd679922ea3ff80c2b4726662">SamplingSurfaceNormal</a> ()</td></tr>
<tr class="memdesc:a9a5a04afd679922ea3ff80c2b4726662"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a9a5a04afd679922ea3ff80c2b4726662"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0cef01e1d389a99bd31c4937902c107e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#a0cef01e1d389a99bd31c4937902c107e">setSample</a> (unsigned int sample)</td></tr>
<tr class="memdesc:a0cef01e1d389a99bd31c4937902c107e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set maximum number of samples in each grid  <a href="classpcl_1_1_sampling_surface_normal.html#a0cef01e1d389a99bd31c4937902c107e">更多...</a><br /></td></tr>
<tr class="separator:a0cef01e1d389a99bd31c4937902c107e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1e8135a6255a30f12b0ecacec278dade"><td class="memItemLeft" align="right" valign="top"><a id="a1e8135a6255a30f12b0ecacec278dade"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#a1e8135a6255a30f12b0ecacec278dade">getSample</a> () const</td></tr>
<tr class="memdesc:a1e8135a6255a30f12b0ecacec278dade"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the value of the internal <em>sample</em> parameter. <br /></td></tr>
<tr class="separator:a1e8135a6255a30f12b0ecacec278dade"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1e55c11f0eabe19b6c8c2867974a03ef"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#a1e55c11f0eabe19b6c8c2867974a03ef">setSeed</a> (unsigned int seed)</td></tr>
<tr class="memdesc:a1e55c11f0eabe19b6c8c2867974a03ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set seed of random function.  <a href="classpcl_1_1_sampling_surface_normal.html#a1e55c11f0eabe19b6c8c2867974a03ef">更多...</a><br /></td></tr>
<tr class="separator:a1e55c11f0eabe19b6c8c2867974a03ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aca270aa6b1eab5558c8f6d3fb4e4f3b5"><td class="memItemLeft" align="right" valign="top"><a id="aca270aa6b1eab5558c8f6d3fb4e4f3b5"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#aca270aa6b1eab5558c8f6d3fb4e4f3b5">getSeed</a> () const</td></tr>
<tr class="memdesc:aca270aa6b1eab5558c8f6d3fb4e4f3b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the value of the internal <em>seed</em> parameter. <br /></td></tr>
<tr class="separator:aca270aa6b1eab5558c8f6d3fb4e4f3b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5cedefed792fd3f3d36efb1478276cd1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#a5cedefed792fd3f3d36efb1478276cd1">setRatio</a> (float ratio)</td></tr>
<tr class="memdesc:a5cedefed792fd3f3d36efb1478276cd1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set ratio of points to be sampled in each grid  <a href="classpcl_1_1_sampling_surface_normal.html#a5cedefed792fd3f3d36efb1478276cd1">更多...</a><br /></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#a5d8aed421911b235a78c5c1ec1d854fd">getRatio</a> () const</td></tr>
<tr class="memdesc:a5d8aed421911b235a78c5c1ec1d854fd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the value of the internal <em>ratio</em> parameter. <br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#af31e766a9092a766962f42005c1b84a4">Filter</a> (bool extract_removed_indices=false)</td></tr>
<tr class="memdesc:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor.  <a href="classpcl_1_1_filter.html#af31e766a9092a766962f42005c1b84a4">更多...</a><br /></td></tr>
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<tr class="memitem:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a11163e4d01519df900e6144f705f6980"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a11163e4d01519df900e6144f705f6980">~Filter</a> ()</td></tr>
<tr class="memdesc:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ae451ce8a0981e8589812d4f3b135a335"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ae451ce8a0981e8589812d4f3b135a335">getRemovedIndices</a> ()</td></tr>
<tr class="memdesc:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed <br /></td></tr>
<tr class="separator:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#add67775d121c2dd536d3306ef447431e">getRemovedIndices</a> (<a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &amp;pi)</td></tr>
<tr class="memdesc:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed  <a href="classpcl_1_1_filter.html#add67775d121c2dd536d3306ef447431e">更多...</a><br /></td></tr>
<tr class="separator:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calls the filtering method and returns the filtered dataset in output.  <a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">更多...</a><br /></td></tr>
<tr class="separator:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
<tr class="separator:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
<tr class="separator:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
<tr class="separator:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
<tr class="separator:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a89ccc27aafff61a6cd19c1a16ef14421"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#a89ccc27aafff61a6cd19c1a16ef14421">applyFilter</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:a89ccc27aafff61a6cd19c1a16ef14421"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sample of point indices into a separate <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>  <a href="classpcl_1_1_sampling_surface_normal.html#a89ccc27aafff61a6cd19c1a16ef14421">更多...</a><br /></td></tr>
<tr class="separator:a89ccc27aafff61a6cd19c1a16ef14421"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a71040236d2c11da75b715d6d6bf5ba9d"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a> () const</td></tr>
<tr class="memdesc:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:ae5aa95593e62919e368f8bdb89d9fb47"><td class="memItemLeft" align="right" valign="top"><a id="ae5aa95593e62919e368f8bdb89d9fb47"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#ae5aa95593e62919e368f8bdb89d9fb47">sample_</a></td></tr>
<tr class="memdesc:ae5aa95593e62919e368f8bdb89d9fb47"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum number of samples in each grid. <br /></td></tr>
<tr class="separator:ae5aa95593e62919e368f8bdb89d9fb47"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afe62a03b2bfdae34d0b94aea58b5ce29"><td class="memItemLeft" align="right" valign="top"><a id="afe62a03b2bfdae34d0b94aea58b5ce29"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#afe62a03b2bfdae34d0b94aea58b5ce29">seed_</a></td></tr>
<tr class="memdesc:afe62a03b2bfdae34d0b94aea58b5ce29"><td class="mdescLeft">&#160;</td><td class="mdescRight">Random number seed. <br /></td></tr>
<tr class="separator:afe62a03b2bfdae34d0b94aea58b5ce29"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac227652191ed966b66f871b01416d5c7"><td class="memItemLeft" align="right" valign="top"><a id="ac227652191ed966b66f871b01416d5c7"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#ac227652191ed966b66f871b01416d5c7">ratio_</a></td></tr>
<tr class="memdesc:ac227652191ed966b66f871b01416d5c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Ratio of points to be sampled in each grid <br /></td></tr>
<tr class="separator:ac227652191ed966b66f871b01416d5c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ae83ccb695ed263cfc64c224210a31936"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">removed_indices_</a></td></tr>
<tr class="memdesc:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of the points that are removed <br /></td></tr>
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<tr class="memitem:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ad700c7ab56dc82ad8811b87e9f793751"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a></td></tr>
<tr class="memdesc:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">The filter name. <br /></td></tr>
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<tr class="memitem:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a77b899631add791703f5d615f085bede"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a></td></tr>
<tr class="memdesc:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if we want to return the indices of the removed points. <br /></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
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<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
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<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
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<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-types"></a>
Private 类型</h2></td></tr>
<tr class="memitem:a3a2f134eabbd3d882cbc225f8eab2308"><td class="memItemLeft" align="right" valign="top"><a id="a3a2f134eabbd3d882cbc225f8eab2308"></a>
typedef <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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<tr class="memitem:a4ca4951302d07b78afd8504237c6d23f"><td class="memItemLeft" align="right" valign="top"><a id="a4ca4951302d07b78afd8504237c6d23f"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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<tr class="memitem:ae6214ad2b211c934098bf072c23c166a"><td class="memItemLeft" align="right" valign="top"><a id="ae6214ad2b211c934098bf072c23c166a"></a>
typedef Eigen::Matrix&lt; float, Eigen::Dynamic, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Vector</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:af82f2754606ccf51e5fb89a705d92ba9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#af82f2754606ccf51e5fb89a705d92ba9">findXYZMaxMin</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, Vector &amp;max_vec, Vector &amp;min_vec)</td></tr>
<tr class="memdesc:af82f2754606ccf51e5fb89a705d92ba9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Finds the max and min values in each dimension  <a href="classpcl_1_1_sampling_surface_normal.html#af82f2754606ccf51e5fb89a705d92ba9">更多...</a><br /></td></tr>
<tr class="separator:af82f2754606ccf51e5fb89a705d92ba9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5e6e359a4fe86a0f2d23df0fb9c1b49b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#a5e6e359a4fe86a0f2d23df0fb9c1b49b">partition</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, const int first, const int last, const Vector min_values, const Vector max_values, std::vector&lt; int &gt; &amp;indices, <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;outcloud)</td></tr>
<tr class="memdesc:a5e6e359a4fe86a0f2d23df0fb9c1b49b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively partition the point cloud, stopping when each grid contains less than sample_ points Points are randomly sampled when a grid is found  <a href="classpcl_1_1_sampling_surface_normal.html#a5e6e359a4fe86a0f2d23df0fb9c1b49b">更多...</a><br /></td></tr>
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<tr class="memitem:ab1e897f208e746cf6c669f3c49b6e45d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#ab1e897f208e746cf6c669f3c49b6e45d">samplePartition</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;data, const int first, const int last, std::vector&lt; int &gt; &amp;indices, <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;outcloud)</td></tr>
<tr class="memdesc:ab1e897f208e746cf6c669f3c49b6e45d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Randomly sample the points in each grid.  <a href="classpcl_1_1_sampling_surface_normal.html#ab1e897f208e746cf6c669f3c49b6e45d">更多...</a><br /></td></tr>
<tr class="separator:ab1e897f208e746cf6c669f3c49b6e45d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9d1f2db0dfcb6ed3bdfe9a51fea81f6"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#af9d1f2db0dfcb6ed3bdfe9a51fea81f6">findCutVal</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, const int cut_dim, const int cut_index)</td></tr>
<tr class="memdesc:af9d1f2db0dfcb6ed3bdfe9a51fea81f6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the threshold for splitting in a given dimension.  <a href="classpcl_1_1_sampling_surface_normal.html#af9d1f2db0dfcb6ed3bdfe9a51fea81f6">更多...</a><br /></td></tr>
<tr class="separator:af9d1f2db0dfcb6ed3bdfe9a51fea81f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a22c30fab2c7fe8bb16d503de915cef61"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#a22c30fab2c7fe8bb16d503de915cef61">computeNormal</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, Eigen::Vector4f &amp;normal, float &amp;curvature)</td></tr>
<tr class="memdesc:a22c30fab2c7fe8bb16d503de915cef61"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes the normal for points in a grid. This is a port from features to avoid features dependency for filters  <a href="classpcl_1_1_sampling_surface_normal.html#a22c30fab2c7fe8bb16d503de915cef61">更多...</a><br /></td></tr>
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<tr class="memitem:a56e03c564ed205e52ae66da50992d4a9"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#a56e03c564ed205e52ae66da50992d4a9">computeMeanAndCovarianceMatrix</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;cloud, Eigen::Matrix3f &amp;covariance_matrix, Eigen::Vector4f &amp;centroid)</td></tr>
<tr class="memdesc:a56e03c564ed205e52ae66da50992d4a9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes the covariance matrix for points in the cloud. This is a port from features to avoid features dependency for filters  <a href="classpcl_1_1_sampling_surface_normal.html#a56e03c564ed205e52ae66da50992d4a9">更多...</a><br /></td></tr>
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<tr class="memitem:ad04f598a55e4ef6a76584f1d92b6aa17"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sampling_surface_normal.html#ad04f598a55e4ef6a76584f1d92b6aa17">solvePlaneParameters</a> (const Eigen::Matrix3f &amp;covariance_matrix, float &amp;nx, float &amp;ny, float &amp;nz, float &amp;curvature)</td></tr>
<tr class="memdesc:ad04f598a55e4ef6a76584f1d92b6aa17"><td class="mdescLeft">&#160;</td><td class="mdescRight">Solve the eigenvalues and eigenvectors of a given 3x3 covariance matrix, and estimate the least-squares plane normal and surface curvature.  <a href="classpcl_1_1_sampling_surface_normal.html#ad04f598a55e4ef6a76584f1d92b6aa17">更多...</a><br /></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::SamplingSurfaceNormal&lt; PointT &gt;</h3>

<p><b><a class="el" href="classpcl_1_1_sampling_surface_normal.html" title="SamplingSurfaceNormal divides the input space into grids until each grid contains a maximum of N poin...">SamplingSurfaceNormal</a></b> divides the input space into grids until each grid contains a maximum of N points, and samples points randomly within each grid. <a class="el" href="structpcl_1_1_normal.html" title="A point structure representing normal coordinates and the surface curvature estimate....">Normal</a> is computed using the N points of each grid. All points sampled within a grid are assigned the same normal. </p>
<dl class="section author"><dt>作者</dt><dd>Aravindhan K Krishnan. This code is ported from libpointmatcher (<a href="https://github.com/ethz-asl/libpointmatcher">https://github.com/ethz-asl/libpointmatcher</a>) </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a89ccc27aafff61a6cd19c1a16ef14421"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a89ccc27aafff61a6cd19c1a16ef14421">&#9670;&nbsp;</a></span>applyFilter()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_sampling_surface_normal.html">pcl::SamplingSurfaceNormal</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::applyFilter </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>Sample of point indices into a separate <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>the resultant point cloud </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_filter.html#a1f703f36f50546e950f03af2453da623">pcl::Filter&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  std::vector &lt;int&gt; indices;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordtype">size_t</span> npts = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points.size ();</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; npts; i++)</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    indices.push_back (i);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  Vector max_vec (3, 1);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  Vector min_vec (3, 1);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <a class="code" href="classpcl_1_1_sampling_surface_normal.html#af82f2754606ccf51e5fb89a705d92ba9">findXYZMaxMin</a> (*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>, max_vec, min_vec);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> data = *<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <a class="code" href="classpcl_1_1_sampling_surface_normal.html#a5e6e359a4fe86a0f2d23df0fb9c1b49b">partition</a> (data, 0, npts, min_vec, max_vec, indices, output);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = 1;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = uint32_t (output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a5e6e359a4fe86a0f2d23df0fb9c1b49b"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a5e6e359a4fe86a0f2d23df0fb9c1b49b">pcl::SamplingSurfaceNormal::partition</a></div><div class="ttdeci">void partition(const PointCloud &amp;cloud, const int first, const int last, const Vector min_values, const Vector max_values, std::vector&lt; int &gt; &amp;indices, PointCloud &amp;outcloud)</div><div class="ttdoc">Recursively partition the point cloud, stopping when each grid contains less than sample_ points Poin...</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:122</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_af82f2754606ccf51e5fb89a705d92ba9"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#af82f2754606ccf51e5fb89a705d92ba9">pcl::SamplingSurfaceNormal::findXYZMaxMin</a></div><div class="ttdeci">void findXYZMaxMin(const PointCloud &amp;cloud, Vector &amp;max_vec, Vector &amp;min_vec)</div><div class="ttdoc">Finds the max and min values in each dimension</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:66</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a56e03c564ed205e52ae66da50992d4a9">&#9670;&nbsp;</a></span>computeMeanAndCovarianceMatrix()</h2>

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<div class="memproto">
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template&lt;typename PointT &gt; </div>
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          <td class="memname">unsigned int <a class="el" href="classpcl_1_1_sampling_surface_normal.html">pcl::SamplingSurfaceNormal</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::computeMeanAndCovarianceMatrix </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Matrix3f &amp;&#160;</td>
          <td class="paramname"><em>covariance_matrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>centroid</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Computes the covariance matrix for points in the cloud. This is a port from features to avoid features dependency for filters </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>The input cloud </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">covariance_matrix</td><td>the covariance matrix </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">centroid</td><td>the centroid </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;{</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="comment">// create the buffer on the stack which is much faster than using cloud.points[indices[i]] and centroid as a buffer</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  Eigen::Matrix&lt;float, 1, 9, Eigen::RowMajor&gt; accu = Eigen::Matrix&lt;float, 1, 9, Eigen::RowMajor&gt;::Zero ();</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> point_count = 0;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  {</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keywordflow">if</span> (!isFinite (cloud[i]))</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    {</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    ++point_count;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    accu [0] += cloud[i].x * cloud[i].x;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    accu [1] += cloud[i].x * cloud[i].y;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    accu [2] += cloud[i].x * cloud[i].z;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    accu [3] += cloud[i].y * cloud[i].y; <span class="comment">// 4</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    accu [4] += cloud[i].y * cloud[i].z; <span class="comment">// 5</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    accu [5] += cloud[i].z * cloud[i].z; <span class="comment">// 8</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    accu [6] += cloud[i].x;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    accu [7] += cloud[i].y;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    accu [8] += cloud[i].z;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  accu /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (point_count);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  centroid[0] = accu[6]; centroid[1] = accu[7]; centroid[2] = accu[8];</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  centroid[3] = 0;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  covariance_matrix.coeffRef (0) = accu [0] - accu [6] * accu [6];</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  covariance_matrix.coeffRef (1) = accu [1] - accu [6] * accu [7];</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  covariance_matrix.coeffRef (2) = accu [2] - accu [6] * accu [8];</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  covariance_matrix.coeffRef (4) = accu [3] - accu [7] * accu [7];</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  covariance_matrix.coeffRef (5) = accu [4] - accu [7] * accu [8];</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  covariance_matrix.coeffRef (8) = accu [5] - accu [8] * accu [8];</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  covariance_matrix.coeffRef (3) = covariance_matrix.coeff (1);</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  covariance_matrix.coeffRef (6) = covariance_matrix.coeff (2);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  covariance_matrix.coeffRef (7) = covariance_matrix.coeff (5);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (point_count));</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a22c30fab2c7fe8bb16d503de915cef61">&#9670;&nbsp;</a></span>computeNormal()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_sampling_surface_normal.html">pcl::SamplingSurfaceNormal</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::computeNormal </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>normal</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>curvature</em>&#160;</td>
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          <td>)</td>
          <td></td><td></td>
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<p>Computes the normal for points in a grid. This is a port from features to avoid features dependency for filters </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>The input cloud </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">normal</td><td>the computed normal </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">curvature</td><td>the computed curvature </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;{</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  Eigen::Vector4f xyz_centroid;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="keywordtype">float</span> nx = 0.0;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <span class="keywordtype">float</span> ny = 0.0;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="keywordtype">float</span> nz = 0.0;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_sampling_surface_normal.html#a56e03c564ed205e52ae66da50992d4a9">computeMeanAndCovarianceMatrix</a> (cloud, covariance_matrix, xyz_centroid) == 0)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    nx = ny = nz = curvature = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <span class="comment">// Get the plane normal and surface curvature</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <a class="code" href="classpcl_1_1_sampling_surface_normal.html#ad04f598a55e4ef6a76584f1d92b6aa17">solvePlaneParameters</a> (covariance_matrix, nx, ny, nz, curvature);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  normal (0) = nx;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  normal (1) = ny;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  normal (2) = nz;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  normal (3) = 0;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <span class="comment">// Hessian form (D = nc . p_plane (centroid here) + p)</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  normal (3) = -1 * normal.dot (xyz_centroid);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a56e03c564ed205e52ae66da50992d4a9"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a56e03c564ed205e52ae66da50992d4a9">pcl::SamplingSurfaceNormal::computeMeanAndCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix3f &amp;covariance_matrix, Eigen::Vector4f &amp;centroid)</div><div class="ttdoc">Computes the covariance matrix for points in the cloud. This is a port from features to avoid feature...</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:231</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_ad04f598a55e4ef6a76584f1d92b6aa17"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#ad04f598a55e4ef6a76584f1d92b6aa17">pcl::SamplingSurfaceNormal::solvePlaneParameters</a></div><div class="ttdeci">void solvePlaneParameters(const Eigen::Matrix3f &amp;covariance_matrix, float &amp;nx, float &amp;ny, float &amp;nz, float &amp;curvature)</div><div class="ttdoc">Solve the eigenvalues and eigenvectors of a given 3x3 covariance matrix, and estimate the least-squar...</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:275</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#af9d1f2db0dfcb6ed3bdfe9a51fea81f6">&#9670;&nbsp;</a></span>findCutVal()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">float <a class="el" href="classpcl_1_1_sampling_surface_normal.html">pcl::SamplingSurfaceNormal</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::findCutVal </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>cut_dim</em>, </td>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>cut_index</em>&#160;</td>
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          <td>)</td>
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<p>Returns the threshold for splitting in a given dimension. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the input cloud </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cut_dim</td><td>the input dimension (0=x, 1=y, 2=z) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cut_index</td><td>the input index in the cloud </td></tr>
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<div class="fragment"><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;{</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="keywordflow">if</span> (cut_dim == 0)</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <span class="keywordflow">return</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[cut_index].x);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (cut_dim == 1)</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    <span class="keywordflow">return</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[cut_index].y);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (cut_dim == 2)</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keywordflow">return</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[cut_index].z);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  <span class="keywordflow">return</span> (0.0f);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#af82f2754606ccf51e5fb89a705d92ba9">&#9670;&nbsp;</a></span>findXYZMaxMin()</h2>

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template&lt;typename PointT &gt; </div>
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      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_sampling_surface_normal.html">pcl::SamplingSurfaceNormal</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::findXYZMaxMin </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Vector &amp;&#160;</td>
          <td class="paramname"><em>max_vec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Vector &amp;&#160;</td>
          <td class="paramname"><em>min_vec</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Finds the max and min values in each dimension </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the input cloud </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">max_vec</td><td>the max value vector </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">min_vec</td><td>the min value vector </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">float</span> maxval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].x;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">float</span> minval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].x;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x &gt; maxval)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      maxval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    }</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x &lt; minval)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      minval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  max_vec (0) = maxval;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  min_vec (0) = minval;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  maxval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].y;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  minval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].y;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y &gt; maxval)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      maxval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y &lt; minval)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      minval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  max_vec (1) = maxval;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  min_vec (1) = minval;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  maxval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].z;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  minval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].z;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z &gt; maxval)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      maxval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z &lt; minval)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      minval = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  max_vec (2) = maxval;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  min_vec (2) = minval;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a5e6e359a4fe86a0f2d23df0fb9c1b49b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5e6e359a4fe86a0f2d23df0fb9c1b49b">&#9670;&nbsp;</a></span>partition()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_sampling_surface_normal.html">pcl::SamplingSurfaceNormal</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::partition </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>first</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>last</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Vector&#160;</td>
          <td class="paramname"><em>min_values</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Vector&#160;</td>
          <td class="paramname"><em>max_values</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>outcloud</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Recursively partition the point cloud, stopping when each grid contains less than sample_ points Points are randomly sampled when a grid is found </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir"></td><td class="paramname">cloud</td><td></td></tr>
    <tr><td class="paramdir"></td><td class="paramname">first</td><td></td></tr>
    <tr><td class="paramdir"></td><td class="paramname">last</td><td></td></tr>
    <tr><td class="paramdir"></td><td class="paramname">min_values</td><td></td></tr>
    <tr><td class="paramdir"></td><td class="paramname">max_values</td><td></td></tr>
    <tr><td class="paramdir"></td><td class="paramname">indices</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">outcloud</td><td>output the resultant point cloud </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;{</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> count (last - first);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordflow">if</span> (count &lt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_sampling_surface_normal.html#ae5aa95593e62919e368f8bdb89d9fb47">sample_</a>))</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <a class="code" href="classpcl_1_1_sampling_surface_normal.html#ab1e897f208e746cf6c669f3c49b6e45d">samplePartition</a> (cloud, first, last, indices, output);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  }</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordtype">int</span> cutDim = 0;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  (max_values - min_values).maxCoeff (&amp;cutDim);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> rightCount (count / 2);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> leftCount (count - rightCount);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    assert (last - rightCount == first + leftCount);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="comment">// sort, hack std::nth_element</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    std::nth_element (indices.begin () + first, indices.begin () + first + leftCount,</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                    indices.begin () + last, CompareDim (cutDim, cloud));</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> cutIndex (indices[first+leftCount]);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> cutVal = <a class="code" href="classpcl_1_1_sampling_surface_normal.html#af9d1f2db0dfcb6ed3bdfe9a51fea81f6">findCutVal</a> (cloud, cutDim, cutIndex);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="comment">// update bounds for left</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    Vector leftMaxValues (max_values);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    leftMaxValues[cutDim] = cutVal;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="comment">// update bounds for right</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    Vector rightMinValues (min_values);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    rightMinValues[cutDim] = cutVal;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="comment">// recurse</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <a class="code" href="classpcl_1_1_sampling_surface_normal.html#a5e6e359a4fe86a0f2d23df0fb9c1b49b">partition</a> (cloud, first, first + leftCount, min_values, leftMaxValues, indices, output);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <a class="code" href="classpcl_1_1_sampling_surface_normal.html#a5e6e359a4fe86a0f2d23df0fb9c1b49b">partition</a> (cloud, first + leftCount, last, rightMinValues, max_values, indices, output);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_ab1e897f208e746cf6c669f3c49b6e45d"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#ab1e897f208e746cf6c669f3c49b6e45d">pcl::SamplingSurfaceNormal::samplePartition</a></div><div class="ttdeci">void samplePartition(const PointCloud &amp;data, const int first, const int last, std::vector&lt; int &gt; &amp;indices, PointCloud &amp;outcloud)</div><div class="ttdoc">Randomly sample the points in each grid.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:161</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_ae5aa95593e62919e368f8bdb89d9fb47"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#ae5aa95593e62919e368f8bdb89d9fb47">pcl::SamplingSurfaceNormal::sample_</a></div><div class="ttdeci">unsigned int sample_</div><div class="ttdoc">Maximum number of samples in each grid.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_af9d1f2db0dfcb6ed3bdfe9a51fea81f6"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#af9d1f2db0dfcb6ed3bdfe9a51fea81f6">pcl::SamplingSurfaceNormal::findCutVal</a></div><div class="ttdeci">float findCutVal(const PointCloud &amp;cloud, const int cut_dim, const int cut_index)</div><div class="ttdoc">Returns the threshold for splitting in a given dimension.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:297</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="ab1e897f208e746cf6c669f3c49b6e45d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab1e897f208e746cf6c669f3c49b6e45d">&#9670;&nbsp;</a></span>samplePartition()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_sampling_surface_normal.html">pcl::SamplingSurfaceNormal</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::samplePartition </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>first</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>last</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>outcloud</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
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<p>Randomly sample the points in each grid. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td></td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">first</td><td></td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">last</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">indices</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>the resultant point cloud </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;{</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;PointT&gt;</a> cloud;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = first; i &lt; last; i++)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> pt;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    pt.x = data.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].x;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    pt.y = data.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].y;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    pt.z = data.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].z;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (pt);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = 1;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = uint32_t (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  Eigen::Vector4f normal;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordtype">float</span> curvature = 0;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="comment">//pcl::computePointNormal&lt;PointT&gt; (cloud, normal, curvature);</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <a class="code" href="classpcl_1_1_sampling_surface_normal.html#a22c30fab2c7fe8bb16d503de915cef61">computeNormal</a> (cloud, normal, curvature);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="comment">// TODO: change to Boost random number generators!</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> r = float (std::rand ()) / float (RAND_MAX);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="keywordflow">if</span> (r &lt; <a class="code" href="classpcl_1_1_sampling_surface_normal.html#ac227652191ed966b66f871b01416d5c7">ratio_</a>)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      pt.normal[0] = normal (0);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      pt.normal[1] = normal (1);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      pt.normal[2] = normal (2);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      pt.curvature = curvature;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      output.points.push_back (pt);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a22c30fab2c7fe8bb16d503de915cef61"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a22c30fab2c7fe8bb16d503de915cef61">pcl::SamplingSurfaceNormal::computeNormal</a></div><div class="ttdeci">void computeNormal(const PointCloud &amp;cloud, Eigen::Vector4f &amp;normal, float &amp;curvature)</div><div class="ttdoc">Computes the normal for points in a grid. This is a port from features to avoid features dependency f...</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:204</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_ac227652191ed966b66f871b01416d5c7"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#ac227652191ed966b66f871b01416d5c7">pcl::SamplingSurfaceNormal::ratio_</a></div><div class="ttdeci">float ratio_</div><div class="ttdoc">Ratio of points to be sampled in each grid</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:137</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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<a id="a5cedefed792fd3f3d36efb1478276cd1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5cedefed792fd3f3d36efb1478276cd1">&#9670;&nbsp;</a></span>setRatio()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
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          <td class="memname">void <a class="el" href="classpcl_1_1_sampling_surface_normal.html">pcl::SamplingSurfaceNormal</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setRatio </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>ratio</em></td><td>)</td>
          <td></td>
        </tr>
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<p>Set ratio of points to be sampled in each grid </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">ratio</td><td>sample the ratio of points to be sampled in each grid </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <a class="code" href="classpcl_1_1_sampling_surface_normal.html#ac227652191ed966b66f871b01416d5c7">ratio_</a> = ratio;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0cef01e1d389a99bd31c4937902c107e">&#9670;&nbsp;</a></span>setSample()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_sampling_surface_normal.html">pcl::SamplingSurfaceNormal</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setSample </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>sample</em></td><td>)</td>
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<p>Set maximum number of samples in each grid </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">sample</td><td>maximum number of samples in each grid </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <a class="code" href="classpcl_1_1_sampling_surface_normal.html#ae5aa95593e62919e368f8bdb89d9fb47">sample_</a> = sample;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1e55c11f0eabe19b6c8c2867974a03ef">&#9670;&nbsp;</a></span>setSeed()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
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          <td class="memname">void <a class="el" href="classpcl_1_1_sampling_surface_normal.html">pcl::SamplingSurfaceNormal</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setSeed </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>seed</em></td><td>)</td>
          <td></td>
        </tr>
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<p>Set seed of random function. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">seed</td><td>the input seed </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <a class="code" href="classpcl_1_1_sampling_surface_normal.html#afe62a03b2bfdae34d0b94aea58b5ce29">seed_</a> = seed;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        srand (<a class="code" href="classpcl_1_1_sampling_surface_normal.html#afe62a03b2bfdae34d0b94aea58b5ce29">seed_</a>);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_afe62a03b2bfdae34d0b94aea58b5ce29"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#afe62a03b2bfdae34d0b94aea58b5ce29">pcl::SamplingSurfaceNormal::seed_</a></div><div class="ttdeci">unsigned int seed_</div><div class="ttdoc">Random number seed.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:135</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad04f598a55e4ef6a76584f1d92b6aa17">&#9670;&nbsp;</a></span>solvePlaneParameters()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_sampling_surface_normal.html">pcl::SamplingSurfaceNormal</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::solvePlaneParameters </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Matrix3f &amp;&#160;</td>
          <td class="paramname"><em>covariance_matrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>nx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>ny</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>nz</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>curvature</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Solve the eigenvalues and eigenvectors of a given 3x3 covariance matrix, and estimate the least-squares plane normal and surface curvature. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">covariance_matrix</td><td>the 3x3 covariance matrix </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">(nx</td><td>ny nz) plane_parameters the resultant plane parameters as: a, b, c, d (ax + by + cz + d = 0) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">curvature</td><td>the estimated surface curvature as a measure of </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;{</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="comment">// Extract the smallest eigenvalue and its eigenvector</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  EIGEN_ALIGN16 Eigen::Vector3f::Scalar eigen_value;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  EIGEN_ALIGN16 Eigen::Vector3f eigen_vector;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a> (covariance_matrix, eigen_value, eigen_vector);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  nx = eigen_vector [0];</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  ny = eigen_vector [1];</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  nz = eigen_vector [2];</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <span class="comment">// Compute the curvature surface change</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  <span class="keywordtype">float</span> eig_sum = covariance_matrix.coeff (0) + covariance_matrix.coeff (4) + covariance_matrix.coeff (8);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <span class="keywordflow">if</span> (eig_sum != 0)</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    curvature = fabsf (eigen_value / eig_sum);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    curvature = 0;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;}</div>
<div class="ttc" id="agroup__common_html_gaca873868052e7d26efcf4b684a17bef2"><div class="ttname"><a href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a></div><div class="ttdeci">void eigen33(const Matrix &amp;mat, typename Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector)</div><div class="ttdoc">determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:251</div></div>
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<hr/>该类的文档由以下文件生成:<ul>
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